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ASDA Series Application Note Application Examples

March, 2015 3-5

Slave position

(Round compression axis)

Master position

(Rectangle carrier)

M1 M2 M3 M4 M5M0

Figure 3.1.2 Creating an E-Cam Curve

3.1.2.2 Settings for the Route of Master Axis (Rectangle Carrier)

When creating the E-Cam curve, the moving distance of the rectangle carrier has to be divided

into equal parts. In this example, the servo generates 10000 pulses per circle because E-gear

ratio is set to 1 : 1. However, in the real mechanism, the master axis, ASDAS-A series servo

motor, will go through a decelerator that reduce the speed to 1/5 of the original. Therefore, the

rectangle carrier will make one full circle until the servo motor makes 5 rotations. To create an

E-Cam curve with 50 points, the motion of the master axis has to be divided into 50 equal parts.

See its calculation below.

The pulse number generated when the rectangle carrier travels one circle:

10000 x 5 = 50000 (pulses)

The required pulse number (distance) of the master axis to travel each point on the E-Cam curve

corresponding to the slave axis:

50000 / 50 = 1000 (pulses)

So, the rectangle carrier will send 1000 pulses to the slave axis whenever it travels one point.

Then, it has to stop and wait for the slave axis to do sampling.

The more sampling points there are, the more precise E-Cam curve it is. On the other hand, the

time it takes will be longer. (ASDA-A2 series servo drive provides E-Cam curves with maximum

720 points.)

Delta ASDA Series User Manual

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